habitat.core.simulator module

Defines the core Simulator and Sensor class wrapper APIs. The classes here are primarily defining abstract APIs which are implemented further downstream.

Classes

class ActionSpaceConfiguration

Attrs base class wrapper for DictConfig defining the action space for a task.

class AgentState

Represents the rigid transformation state of an agent as a 3D position and quaternion rotation.

class BumpSensor

Wrapper for non-visual navmesh collision Sensors. See Sensor parent class for more details.

class DepthSensor

Wrapper for depth Camera Sensors. See Sensor parent class for more details.

class Observations

Dictionary containing sensor observations

class RGBSensor

Wrapper for 3-channel color Camera Sensors. See Sensor parent class for more details.

class SemanticSensor

Wrapper for integer id Camera Sensors where each integer is mapped to an object instance or semantic class. See Sensor parent class for more details.

class Sensor

Represents a sensor that provides data from the environment to agent. The user of this class needs to implement the get_observation method and the user is also required to set attributes.

class SensorSuite

Represents a set of sensors, with each sensor being identified through a unique id.

class ShortestPathPoint

Wrapper for the information embedded in a single point for a ShortestPath planner object: 3D position, quaternion rotation, and the action which led to the state.

class Simulator

Abstract simulator class for habitat. New simulators to be added to habitat must derive from this class and implement the abstract methods.

Enums

class SensorTypes(enum.Enum): NULL = 0 COLOR = 1 DEPTH = 2 NORMAL = 3 SEMANTIC = 4 PATH = 5 POSITION = 6 FORCE = 7 TENSOR = 8 TEXT = 9 MEASUREMENT = 10 HEADING = 11 TACTILE = 12 TOKEN_IDS = 13

Enumeration of types of sensors.

Data

TYPE_CHECKING = False